Network connection vehicle intersection automatic following control method and device

Abstract

The invention provides a networked vehicle intersection automatic following control method and device, and the method comprises the steps: determining a first impact factor of a preceding vehicle on a current vehicle and a second impact factor of a second preceding vehicle on the current vehicle based on a first distance between the current vehicle and the preceding vehicle and a second distance between the current vehicle and the second preceding vehicle; based on the first influence factor and the second influence factor, determining the optimal following speed of the current vehicle; based on the optimal speed and the current speed of the current vehicle, determining the optimal acceleration of the current vehicle following; and controlling the current vehicle to automatically follow according to the optimal acceleration. According to the automatic following control method and device for the networked vehicle at the intersection, the optimal following speed and the optimal following acceleration of the current vehicle are determined based on the distance between the current vehicle and the preceding vehicle and the distance between the current vehicle and the next preceding vehicle, and the passing efficiency of the networked vehicle at the traffic light intersection is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle networking, and in particular to a method and device for automatic following control of a networked vehicle at an intersection. Background Art

[0002] In recent years, with the continuous development of automobile assisted driving technology and autonomous driving technology, it helps to improve the traffic efficiency of vehicles at key intersections, thereby ensuring overall traffic efficiency.

[0003] Traffic lights in cities are undoubtedly critical nodes. Currently, the single-vehicle intelligent technology mainly uses the motion state of the preceding vehicle as a reference (especially when far away from the traffic lights). This will cause vehicles queuing far from the traffic lights to have a delay in the change of the signal light (green light activated) and the change of the motion state of the traffic flow in front (multiple vehicles have already started), thus preventing more vehicles from passing within the green light phase. As the length of the vehicle queue at the intersection increases and the average speed decreases, this phenomenon will become more prominent, and there will be a technical problem of low traffic efficiency at the traffic light intersection. Summary of the invention

[0004] The present invention provides a method and device for automatically following a networked vehicle at an intersection, which are used to solve the technical problem of low traffic efficiency at a traffic light intersection in the prior art.

[0005] In a first aspect, the present invention provides a method for controlling automatic following of a networked vehicle at an intersection, comprising: Determine a first impact factor of the preceding vehicle on the current vehicle and a second impact factor of the following preceding vehicle on the current vehicle based on a first distance between the current vehicle and the preceding vehicle and a second distance between the current vehicle and the following preceding vehicle; Determining an optimal speed for the current vehicle to follow the car based on the first influencing factor and the second influencing factor; Based on the optimal speed and the current speed of the current vehicle, determining an optimal acceleration for the current vehicle to follow the car; The current vehicle is controlled to automatically follow the vehicle according to the optimal acceleration.

[0006] In some embodiments, based on a first distance between the current vehicle and a preceding vehicle, and a second distance between the current vehicle and a second preceding vehicle, determining a first influence factor of the preceding vehicle on the current vehicle, and a second influence factor of the second preceding vehicle on the current vehicle includes: Determining a third distance between a preceding vehicle and a second preceding vehicle based on the first distance and the second distance; The first impact factor and the second impact factor are determined based on the relationship between the first distance and the third distance.

[0007] In some embodiments, determining the first impact factor and the second impact factor based on the relationship between the first distance and the third distance includes: When the first distance is less than or equal to the third distance, determining the first impact factor based on a ratio of the third distance to the second distance, and determining the second impact factor based on a ratio of the first distance to the second distance; When the first distance is greater than the third distance, the first impact factor is determined based on a ratio of the second distance to the second distance, and the second impact factor is determined based on a ratio of the third distance to the second distance.

[0008] In some embodiments, based on the relationship between the first distance and the third distance, a calculation formula for determining the first impact factor and the second impact factor is as follows: in, represents the first impact factor, represents the third distance, represents the second distance, represents the second impact factor, Indicates the first distance.

[0009] In some embodiments, determining the optimal speed of the current vehicle following based on the first influencing factor and the second influencing factor includes: Determine an equivalent distance based on the first impact factor, the second impact factor, the first distance, and the second distance; An optimal speed for the current vehicle to follow is determined based on the equivalent distance.

[0010] In some embodiments, determining the equivalent distance based on the first impact factor, the second impact factor, the first distance, and the second distance includes: determining a fourth distance based on the first impact factor and the first distance, and determining a fifth distance based on the second impact factor and the second distance; The equivalent distance is determined based on the fourth distance and the fifth distance.

[0011] In a second aspect, the present invention further provides an automatic following control device for a networked vehicle at an intersection, comprising: A first determination module, configured to determine a first influence factor of the preceding vehicle on the current vehicle and a second influence factor of the second preceding vehicle on the current vehicle based on a first distance between the current vehicle and the preceding vehicle and a second distance between the current vehicle and the second preceding vehicle; A second determination module, configured to determine an optimal speed of the current vehicle following the vehicle based on the first influencing factor and the second influencing factor; A third determination module, configured to determine an optimal acceleration for the current vehicle to follow the car based on the optimal speed and the current speed of the current vehicle; The control module is used to control the current vehicle to automatically follow the vehicle according to the optimal acceleration.

[0012] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for automatic following control of a connected vehicle at an intersection as described in any one of the above is implemented.

[0013] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described methods for automatic following control of a connected vehicle at an intersection.

[0014] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-mentioned methods for automatic following control at intersections for connected vehicles.

[0015] The automatic following control method and device for a networked vehicle at an intersection provided by the present invention determine the optimal speed for the current vehicle to follow based on the distance between the current vehicle and the preceding vehicle and the distance between the current vehicle and the next preceding vehicle, and determine the optimal acceleration for the current vehicle to follow based on the optimal speed and the current speed of the current vehicle, and control the current vehicle to automatically follow according to the optimal acceleration, thereby improving the traffic efficiency of networked vehicles at traffic light intersections. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a flow chart of the automatic following control method for a networked vehicle at an intersection provided by the present invention; Figure 2 It is a schematic diagram of a connected vehicle following a green light start scenario provided by the present invention; Figure 3 It is a logic flow chart of automatic following control of a networked vehicle for a green light start scenario provided by the present invention; Figure 4It is a structural schematic diagram of the automatic following control device for networked vehicles at intersections provided by the present invention; Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Figure 1 is a flow chart of the automatic following control method for a networked vehicle at an intersection provided by the present invention, such as Figure 1 As shown, the method includes the following: Step 101: Based on a first distance between a current vehicle and a preceding vehicle, and a second distance between a current vehicle and a second preceding vehicle, determine a first impact factor of the preceding vehicle on the current vehicle, and a second impact factor of the second preceding vehicle on the current vehicle.

[0020] Specifically, the embodiment of the present application determines the influence of the preceding vehicle on the efficiency of the current vehicle passing through the traffic light intersection according to the distance between the current vehicle and multiple vehicles preceding the current vehicle queued at the traffic light intersection.

[0021] Figure 2 Schematic diagram of the connected vehicle following car provided by the present invention for the green light start scenario, such as Figure 2 As shown, the current vehicle is the first vehicle in the figure, the preceding vehicle is the second vehicle in the figure, and the second preceding vehicle is the third vehicle in the figure.

[0022] The embodiment of the present application first determines a first impact factor of the preceding vehicle on the current vehicle and a second impact factor of the second preceding vehicle on the current vehicle based on a first distance between the current vehicle and the preceding vehicle and a second distance between the current vehicle and the second preceding vehicle.

[0023] The first distance between the current vehicle and the preceding vehicle is represented by Indicates that the second distance between the current vehicle and the second preceding vehicle is represented by express.

[0024] The first influencing factor represents the influence of the preceding vehicle on the efficiency of the current vehicle passing through the traffic light intersection, and the second influencing factor represents the influence of the following preceding vehicle on the efficiency of the current vehicle passing through the traffic light intersection.

[0025] Step 102: Determine the optimal speed of the current vehicle following based on the first influencing factor and the second influencing factor.

[0026] Specifically, in an embodiment of the present application, after determining a first impact factor of the preceding vehicle on the current vehicle and a second impact factor of the second preceding vehicle on the current vehicle, an optimal following speed of the current vehicle is determined based on the first impact factor and the second impact factor.

[0027] In some embodiments, determining the optimal speed of the current vehicle following based on the first influencing factor and the second influencing factor includes: Determining an equivalent distance based on the first impact factor, the second impact factor, the first distance, and the second distance; The optimal speed for the current vehicle to follow is determined based on the equivalent distance.

[0028] Step 103: Determine the optimal acceleration of the current vehicle for following the vehicle based on the optimal speed and the current speed of the current vehicle.

[0029] Specifically, in the embodiment of the present application, after the optimal speed of the current vehicle following the car is determined, the optimal acceleration of the current vehicle following the car is determined according to the optimal speed.

[0030] Step 104: Control the current vehicle to automatically follow the vehicle according to the optimal acceleration.

[0031] Specifically, in the embodiment of the present application, after the optimal acceleration for the current vehicle to follow is determined, the current vehicle is controlled to automatically follow according to the optimal acceleration.

[0032] The automatic following control method for networked vehicles at intersections provided by the present invention determines the optimal speed for the current vehicle to follow based on the distance between the current vehicle and the preceding vehicle and the distance between the current vehicle and the next preceding vehicle, and determines the optimal acceleration for the current vehicle to follow based on the optimal speed and the current speed of the current vehicle, and controls the current vehicle to automatically follow according to the optimal acceleration, thereby improving the traffic efficiency of networked vehicles at traffic light intersections.

[0033] In some embodiments, based on a first distance between the current vehicle and a preceding vehicle, and a second distance between the current vehicle and a second preceding vehicle, determining a first influence factor of the preceding vehicle on the current vehicle, and a second influence factor of the second preceding vehicle on the current vehicle includes: Determining a third distance between the preceding vehicle and the second preceding vehicle based on the first distance and the second distance; Based on the relationship between the first distance and the third distance, the first impact factor and the second impact factor are determined.

[0034] Specifically, in an embodiment of the present application, in a process of determining a first influence factor of the front vehicle on the current vehicle and a second influence factor of the second front vehicle on the current vehicle based on a first distance between the current vehicle and the front vehicle and a second distance between the current vehicle and the second front vehicle, firstly, based on the first distance and the second distance, a third distance between the front vehicle and the second front vehicle is determined, and then, based on the relationship between the first distance and the third distance, the first influence factor and the second influence factor are determined.

[0035] For example, the first influencing factor and the second influencing factor may be determined according to the magnitude relationship between the first distance and the third distance.

[0036] The automatic following control method for connected vehicles at intersections provided by the present invention determines a first influence factor of the front vehicle on the current vehicle and a second influence factor of the second front vehicle on the current vehicle based on the distance between the current vehicle and the front vehicle and the distance between the front vehicle and the second front vehicle, thereby improving the traffic efficiency of connected vehicles at traffic light intersections.

[0037] In some embodiments, determining the first impact factor and the second impact factor based on the relationship between the first distance and the third distance includes: In a case where the first distance is less than or equal to the third distance, the first impact factor is determined based on a ratio of the third distance to the second distance, and the second impact factor is determined based on a ratio of the first distance to the second distance; In the case that the first distance is greater than the third distance, the first impact factor is determined based on the ratio of the first distance to the third distance, and the second impact factor is determined based on the ratio of the third distance to the second distance.

[0038] Specifically, in an embodiment of the present application, based on the distance between the current vehicle and the preceding vehicle, and the distance between the preceding vehicle and the next preceding vehicle, a first influence factor of the preceding vehicle on the current vehicle and a second influence factor of the next preceding vehicle on the current vehicle are determined.

[0039] When the first distance is less than or equal to the third distance, the first impact factor is determined based on the ratio of the third distance to the second distance, and the second impact factor is determined based on the ratio of the first distance to the second distance. For example, the calculation formula is as follows: in, represents the first impact factor, represents the third distance, represents the second distance, represents the second impact factor, represents the first distance, Represents a preset constant, Indicates a preset constant.

[0040] When the first distance is greater than the third distance, the first impact factor is determined based on the ratio of the second distance to the second distance, and the second impact factor is determined based on the ratio of the third distance to the second distance.

[0041] in, represents the first impact factor, represents the third distance, represents the second distance, represents the second impact factor, represents the first distance, Represents a preset constant, Indicates a preset constant.

[0042] The automatic following control method for connected vehicles at intersections provided by the present invention determines a first influence factor of the front vehicle on the current vehicle and a second influence factor of the second front vehicle on the current vehicle based on the relationship between the distance between the current vehicle and the front vehicle and the distance between the front vehicle and the second front vehicle, thereby improving the traffic efficiency of connected vehicles at traffic light intersections.

[0043] In some embodiments, based on the relationship between the first distance and the third distance, a calculation formula for determining the first impact factor and the second impact factor is as follows: in, represents the first impact factor, represents the third distance, represents the second distance, represents the second impact factor, Indicates the first distance.

[0044] Specifically, in an embodiment of the present application, based on the distance between the current vehicle and the vehicle in front, and the relationship between the distance between the vehicle in front and the next vehicle in front, the first impact factor of the vehicle in front on the current vehicle and the second impact factor of the next vehicle in front on the current vehicle are determined, thereby improving the traffic efficiency of connected vehicles at traffic light intersections.

[0045] In some embodiments, determining the optimal speed of the current vehicle following based on the first influencing factor and the second influencing factor includes: Determining an equivalent distance based on the first impact factor, the second impact factor, the first distance, and the second distance; The optimal speed for the current vehicle to follow is determined based on the equivalent distance.

[0046] Specifically, in an embodiment of the present application, in the process of determining the optimal speed of the current vehicle following based on the first influencing factor and the second influencing factor, the equivalent distance is first determined based on the first influencing factor, the second influencing factor, the first distance and the second distance, and then the optimal speed of the current vehicle following is determined based on the equivalent distance.

[0047] For example, based on the first impact factor, the second impact factor, the first distance, and the second distance, a calculation formula for determining the equivalent distance is as follows: in, represents the equivalent distance at time t, represents the first impact factor, represents the first distance at time t, represents the second impact factor, Represents the second distance at time t.

[0048] For another example, based on the first impact factor, the second impact factor, the first distance, and the second distance, the calculation formula for determining the equivalent distance is as follows: in, represents the equivalent distance at time t, represents the first impact factor, represents the first distance at time t, represents the second impact factor, Represents the second distance at time t.

[0049] The calculation formula for determining the optimal speed of the current vehicle following based on the equivalent distance is as follows: in, represents the optimal speed at time t, represents the equivalent distance at time t, Indicates the current maximum speed of the vehicle. represents the hyperbolic tangent function, Indicates the safety distance.

[0050] The automatic following control method for connected vehicles at intersections provided by the present invention determines an equivalent distance based on a first distance between the current vehicle and a preceding vehicle, a second distance between the current vehicle and the second preceding vehicle, a first influence factor of the preceding vehicle on the current vehicle, and a second influence factor of the second preceding vehicle on the current vehicle, and determines an optimal speed based on the equivalent distance, thereby improving the traffic efficiency of connected vehicles at traffic light intersections.

[0051] In some embodiments, determining the equivalent distance based on the first impact factor, the second impact factor, the first distance, and the second distance includes: determining a fourth distance based on the first impact factor and the first distance, and determining a fifth distance based on the second impact factor and the second distance; The equivalent distance is determined based on the fourth distance and the fifth distance.

[0052] Specifically, in an embodiment of the present application, in the process of determining the equivalent distance based on the first influencing factor, the second influencing factor, the first distance, and the second distance, the fourth distance is first determined based on the first influencing factor and the first distance, and the fifth distance is determined based on the second influencing factor and the second distance; then the equivalent distance is determined based on the fourth distance and the fifth distance.

[0053] Based on the first impact factor, the second impact factor, the first distance, and the second distance, the calculation formula for determining the equivalent distance is as follows: in, represents the equivalent distance at time t, represents the first impact factor, represents the first distance at time t, represents the second impact factor, represents the second distance at time t, represents the fourth distance, Indicates the fifth distance.

[0054] The automatic following control method for connected vehicles at intersections provided by the present invention determines an equivalent distance based on a first distance between the current vehicle and a preceding vehicle, a second distance between the current vehicle and the second preceding vehicle, a first influence factor of the preceding vehicle on the current vehicle, and a second influence factor of the second preceding vehicle on the current vehicle, and determines an optimal speed based on the equivalent distance, thereby improving the traffic efficiency of connected vehicles at traffic light intersections.

[0055] In some embodiments, the optimal acceleration of the current vehicle is determined according to the following calculation formula: in, represents the optimal acceleration at time t, is the traffic light control variable. When the light is green and the current vehicle is not the first vehicle in the queue ,otherwise ; , Represents the driver / autonomous vehicle's reaction time. represents the optimal speed at time t, represents the speed at time t.

[0056] The automatic following control method for a networked vehicle at an intersection provided by the present invention is further described below with a specific example: Figure 3 is a logic flow chart of the automatic following control of a networked vehicle for a green light start scenario provided by the present invention, such as Figure 3 As shown in the figure, traffic light intersections broadcast traffic light phase and timing (Signal Phase And Timing, SPAT) messages and map (MAP) messages through road side units (Road Side Unit, RSU), and each vehicle is pre-installed with an on-board unit (On Board Unit, OBU) and a micro controller unit (Micro Controller Unit, MCU). The OBU receives SPAT messages and MAP messages in real time, and broadcasts and receives basic safety messages (Basic Safety Message, BSM) in real time. The BSM contains at least basic information such as the latitude and longitude, direction, speed, brake status, and double flash status of the vehicle. The MCU and OBU interact to recommend strategies for following the car.

[0057] The automatic following control process of a connected vehicle for a green light start scenario provided by the present invention may include the following steps: Step 1: The OBU of the current vehicle receives the SPAT message and MAP message sent by the RSU in real time. The SPAT message must at least contain the traffic light phase and timing information. The MAP message must at least contain the connection relationship between intersections, sections, lanes and roads. In addition, the OBU also needs to receive the traffic light control variables sent by the RSU in real time (determine whether to start the following behavior based on the current vehicle position and the current light state).

[0058] Step 2: The MCU of the current vehicle determines whether it needs to pass the intersection immediately. If yes, step 3 is triggered; otherwise, step 1 is triggered.

[0059] Step 3: The OBU of the current vehicle determines whether the current vehicle is in the queue state of the red light at the intersection through its own motion state, SPAT message and MAP message. If so, step 4 is triggered; otherwise, step 1 is triggered.

[0060] Step 4: The OBU of the current vehicle determines whether the traffic light at the intersection has turned green through the SPAT message. If so, step 5 is triggered; otherwise, step 1 is triggered.

[0061] Step 5: The OBU of the current vehicle receives the BSM of other vehicles.

[0062] Step 6: The OBU of the current vehicle determines whether there is a queued vehicle at the traffic light in front of the current vehicle according to the acquired BSM. If yes, step 8 is triggered; otherwise, step 7 is triggered.

[0063] Step 7: The current vehicle is the head vehicle in the intersection queue and can decide its own driving strategy. The OBU does not need to output optimal speed and acceleration recommendations.

[0064] Step 8: The OBU of the current vehicle determines to execute the vehicle following behavior.

[0065] Step 9: The OBU of the current vehicle calculates the position difference between the current vehicle, the preceding vehicle, and the next preceding vehicle according to the BSM. The specific calculation formula is as follows: in, Indicates the distance (position difference) between the current vehicle and the vehicle in front. Indicates the position of the vehicle in front. Indicates the current vehicle position.

[0066] in, Indicates the distance (position difference) between the current vehicle and the next preceding vehicle. Indicates the position of the next preceding vehicle. Indicates the current vehicle position.

[0067] Step 10: The OBU of the current vehicle calculates the impact factor of multiple vehicles in front at the current moment, the optimal speed recommendation, and then obtains the optimal acceleration at the current moment as the decision recommendation for the following behavior of the current vehicle based on the traffic light control variables, its own speed, etc., and the position difference calculated above, using the green light start-following algorithm that considers the influence of multiple vehicles in front proposed in this application.

[0068] The specific method of determining the impact factor of multiple vehicles ahead, the optimal speed and the optimal acceleration is described in the above embodiment and will not be repeated here.

[0069] Step 11: The OBU of the current vehicle communicates and interacts with the MCU regarding the car-following behavior decision suggestion, and the MCU executes the car-following behavior of the vehicle at the current moment accordingly.

[0070] Step 12: The OBU of the current vehicle determines in real time whether it has passed the traffic light intersection through its own vehicle status and MAP message. If yes, it ends; otherwise, it triggers step 6 (the current vehicle repeats the above steps and continues to use the green light start-following model that considers the influence of multiple preceding vehicles to continuously follow the optimal acceleration at the current moment).

[0071] The embodiment of the present application determines the influence of the preceding vehicle on the efficiency of the current vehicle passing through the traffic light intersection based on the distance between the current vehicle and multiple vehicles in front of the current vehicle queued at the traffic light intersection, and determines the optimal speed and acceleration of the current vehicle based on the influence, thereby improving the efficiency of the vehicle passing through the traffic light intersection.

[0072] The automatic car-following control device for a networked vehicle at an intersection provided by the present invention is described below. The automatic car-following control device for a networked vehicle at an intersection described below and the automatic car-following control method for a networked vehicle at an intersection described above can be referenced to each other.

[0073] Figure 4 is a schematic diagram of the structure of the automatic following control device for networked vehicles at intersections provided by the present invention, such as Figure 4 As shown, the automatic following control device for a networked vehicle at an intersection provided by the present invention comprises: The first determination module 401 is used to determine a first influence factor of the preceding vehicle on the current vehicle and a second influence factor of the second preceding vehicle on the current vehicle based on a first distance between the current vehicle and the preceding vehicle and a second distance between the current vehicle and the second preceding vehicle; The second determination module 402 is used to determine the optimal speed of the current vehicle following based on the first influencing factor and the second influencing factor; The third determination module 403 is used to determine the optimal acceleration of the current vehicle for following the car based on the optimal speed and the current speed of the current vehicle; The control module 404 is used to control the current vehicle to automatically follow the vehicle according to the optimal acceleration.

[0074] In some embodiments, based on a first distance between the current vehicle and a preceding vehicle, and a second distance between the current vehicle and a second preceding vehicle, determining a first influence factor of the preceding vehicle on the current vehicle, and a second influence factor of the second preceding vehicle on the current vehicle includes: Determining a third distance between the preceding vehicle and the second preceding vehicle based on the first distance and the second distance; Based on the relationship between the first distance and the third distance, the first impact factor and the second impact factor are determined.

[0075] In some embodiments, determining the first impact factor and the second impact factor based on the relationship between the first distance and the third distance includes: In a case where the first distance is less than or equal to the third distance, the first impact factor is determined based on a ratio of the third distance to the second distance, and the second impact factor is determined based on a ratio of the first distance to the second distance; In the case that the first distance is greater than the third distance, the first impact factor is determined based on the ratio of the first distance to the third distance, and the second impact factor is determined based on the ratio of the third distance to the second distance.

[0076] In some embodiments, based on the relationship between the first distance and the third distance, a calculation formula for determining the first impact factor and the second impact factor is as follows: in, represents the first impact factor, represents the third distance, represents the second distance, represents the second impact factor, Indicates the first distance.

[0077] In some embodiments, determining the optimal speed of the current vehicle following based on the first influencing factor and the second influencing factor includes: Determining an equivalent distance based on the first impact factor, the second impact factor, the first distance, and the second distance; The optimal speed for the current vehicle to follow is determined based on the equivalent distance.

[0078] In some embodiments, determining the equivalent distance based on the first impact factor, the second impact factor, the first distance, and the second distance includes: determining a fourth distance based on the first impact factor and the first distance, and determining a fifth distance based on the second impact factor and the second distance; The equivalent distance is determined based on the fourth distance and the fifth distance.

[0079] Specifically, the above-mentioned automatic following control device for connected vehicles at intersections provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned automatic following control method embodiment for connected vehicles at intersections, and can achieve the same technical effects. The parts and beneficial effects of this embodiment that are the same as those of the method embodiment will not be described in detail here.

[0080] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the automatic following control method for a networked vehicle at an intersection, and the method includes: Determine a first impact factor of the preceding vehicle on the current vehicle and a second impact factor of the following preceding vehicle on the current vehicle based on a first distance between the current vehicle and the preceding vehicle and a second distance between the current vehicle and the following preceding vehicle; Determining an optimal speed for the current vehicle to follow the car based on the first influencing factor and the second influencing factor; Based on the optimal speed and the current speed of the current vehicle, determining an optimal acceleration for the current vehicle to follow the car; The current vehicle is controlled to automatically follow the vehicle according to the optimal acceleration.

[0081] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0082] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the automatic following control method for a networked vehicle at an intersection provided by the above methods, the method comprising: Determine a first impact factor of the preceding vehicle on the current vehicle and a second impact factor of the following preceding vehicle on the current vehicle based on a first distance between the current vehicle and the preceding vehicle and a second distance between the current vehicle and the following preceding vehicle; Determining an optimal speed for the current vehicle to follow the car based on the first influencing factor and the second influencing factor; Based on the optimal speed and the current speed of the current vehicle, determining an optimal acceleration for the current vehicle to follow the car; The current vehicle is controlled to automatically follow the vehicle according to the optimal acceleration.

[0083] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the automatic following control method for a networked vehicle at an intersection provided by the above methods is implemented, and the method comprises: Determine a first impact factor of the preceding vehicle on the current vehicle and a second impact factor of the following preceding vehicle on the current vehicle based on a first distance between the current vehicle and the preceding vehicle and a second distance between the current vehicle and the following preceding vehicle; Determining an optimal speed for the current vehicle to follow the car based on the first influencing factor and the second influencing factor; Based on the optimal speed and the current speed of the current vehicle, determining an optimal acceleration for the current vehicle to follow the car; The current vehicle is controlled to automatically follow the vehicle according to the optimal acceleration.

[0084] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0085] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0086] It should also be noted that the term "and / or" in the embodiments of the present application describes the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B may represent the three situations of: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0087] "Determine B based on A" in the embodiments of the present application means that the factor A should be considered when determining B. It is not limited to "B can be determined based on A alone", but should also include: "Determine B based on A and C", "Determine B based on A, C and E", "Determine C based on A, and further determine B based on C", etc. In addition, it can also include taking A as a condition for determining B, for example, "When A meets the first condition, use the first method to determine B"; for another example, "When A meets the second condition, determine B", etc.; for another example, "When A meets the third condition, determine B based on the first parameter", etc. Of course, it can also be a condition that takes A as a factor for determining B, for example, "When A meets the first condition, use the first method to determine C, and further determine B based on C", etc.

[0088] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0089] In the embodiments of the present application, the terms "first", "second", etc. are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling automatic following of a networked vehicle at an intersection, characterized in that: include: Determine a first impact factor of the preceding vehicle on the current vehicle and a second impact factor of the following preceding vehicle on the current vehicle based on a first distance between the current vehicle and the preceding vehicle and a second distance between the current vehicle and the following preceding vehicle; Determining an optimal speed for the current vehicle to follow the car based on the first influencing factor and the second influencing factor; Based on the optimal speed and the current speed of the current vehicle, determining an optimal acceleration for the current vehicle to follow the car; The current vehicle is controlled to automatically follow the vehicle according to the optimal acceleration.

2. The automatic following control method for a networked vehicle at an intersection according to claim 1, characterized in that: Based on a first distance between the current vehicle and a preceding vehicle, and a second distance between the current vehicle and a second preceding vehicle, determining a first impact factor of the preceding vehicle on the current vehicle, and a second impact factor of the second preceding vehicle on the current vehicle, includes: Determining a third distance between a preceding vehicle and a second preceding vehicle based on the first distance and the second distance; The first impact factor and the second impact factor are determined based on the relationship between the first distance and the third distance.

3. The automatic following control method for a networked vehicle at an intersection according to claim 2, characterized in that: Determining the first impact factor and the second impact factor based on the relationship between the first distance and the third distance includes: When the first distance is less than or equal to the third distance, determining the first impact factor based on a ratio of the third distance to the second distance, and determining the second impact factor based on a ratio of the first distance to the second distance; When the first distance is greater than the third distance, the first impact factor is determined based on a ratio of the second distance to the second distance, and the second impact factor is determined based on a ratio of the third distance to the second distance.

4. The automatic following control method for a networked vehicle at an intersection according to claim 3, characterized in that: Based on the relationship between the first distance and the third distance, the calculation formula for determining the first impact factor and the second impact factor is as follows: in, represents the first impact factor, represents the third distance, represents the second distance, represents the second impact factor, Indicates the first distance.

5. The automatic following control method for a networked vehicle at an intersection according to claim 1, characterized in that: Determining the optimal speed of the current vehicle following the vehicle based on the first influencing factor and the second influencing factor includes: Determine an equivalent distance based on the first impact factor, the second impact factor, the first distance, and the second distance; An optimal speed for the current vehicle to follow is determined based on the equivalent distance.

6. The automatic following control method for a networked vehicle at an intersection according to claim 5, characterized in that: Determining an equivalent distance based on the first impact factor, the second impact factor, the first distance, and the second distance includes: determining a fourth distance based on the first impact factor and the first distance, and determining a fifth distance based on the second impact factor and the second distance; The equivalent distance is determined based on the fourth distance and the fifth distance.

7. An automatic following control device for a networked vehicle at an intersection, characterized in that: include: A first determination module, configured to determine a first influence factor of the preceding vehicle on the current vehicle and a second influence factor of the second preceding vehicle on the current vehicle based on a first distance between the current vehicle and the preceding vehicle and a second distance between the current vehicle and the second preceding vehicle; A second determination module, configured to determine an optimal speed of the current vehicle following the vehicle based on the first influencing factor and the second influencing factor; A third determination module, configured to determine an optimal acceleration for the current vehicle to follow the car based on the optimal speed and the current speed of the current vehicle; The control module is used to control the current vehicle to automatically follow the vehicle according to the optimal acceleration.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the automatic following control method for a connected vehicle at an intersection as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the automatic following control method for a connected vehicle at an intersection as described in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the automatic following control method for a connected vehicle at an intersection as described in any one of claims 1 to 6 is implemented.

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